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Merge pull request #41 from dbadb/master
Integrate SpartronicsLib with this year's project.
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plugins { | ||
id "java" | ||
id "edu.wpi.first.GradleRIO" version "2020.1.2" | ||
} | ||
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sourceCompatibility = JavaVersion.VERSION_11 | ||
targetCompatibility = JavaVersion.VERSION_11 | ||
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def ROBOT_MAIN_CLASS = "com.spartronics4915.frc2020.Main" | ||
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// Define my targets (RoboRIO) and artifacts (deployable files) | ||
// This is added by GradleRIO's backing project EmbeddedTools. | ||
deploy { | ||
targets { | ||
roboRIO("roborio") { | ||
// Team number is loaded either from the .wpilib/wpilib_preferences.json | ||
// or from command line. If not found an exception will be thrown. | ||
// You can use getTeamOrDefault(team) instead of getTeamNumber if you | ||
// want to store a team number in this file. | ||
team = frc.getTeamNumber() | ||
} | ||
} | ||
artifacts { | ||
frcJavaArtifact('frcJava') { | ||
targets << "roborio" | ||
// Debug can be overridden by command line, for use with VSCode | ||
debug = frc.getDebugOrDefault(false) | ||
} | ||
// Built in artifact to deploy arbitrary files to the roboRIO. | ||
fileTreeArtifact('frcStaticFileDeploy') { | ||
// The directory below is the local directory to deploy | ||
files = fileTree(dir: 'src/main/deploy') | ||
// Deploy to RoboRIO target, into /home/lvuser/deploy | ||
targets << "roborio" | ||
directory = '/home/lvuser/deploy' | ||
} | ||
} | ||
} | ||
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repositories { | ||
mavenCentral() | ||
maven { url 'https://jitpack.io' } | ||
} | ||
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// Set this to true to enable desktop support. | ||
def includeDesktopSupport = true | ||
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// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. | ||
// Also defines JUnit 4. | ||
dependencies { | ||
implementation wpi.deps.wpilib() | ||
nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio) | ||
nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop) | ||
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implementation wpi.deps.vendor.java() | ||
nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio) | ||
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) | ||
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implementation "com.github.Spartronics4915:SpartronicsLib:master-SNAPSHOT" | ||
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testImplementation 'junit:junit:4.12' | ||
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// Enable simulation gui support. Must check the box in vscode to enable support | ||
// upon debugging | ||
simulation wpi.deps.sim.gui(wpi.platforms.desktop, false) | ||
} | ||
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// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') | ||
// in order to make them all available at runtime. Also adding the manifest so WPILib | ||
// knows where to look for our Robot Class. | ||
jar { | ||
from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } | ||
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) | ||
} | ||
import java.text.SimpleDateFormat; | ||
import java.io.ByteArrayOutputStream; | ||
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plugins { | ||
id "java" | ||
id "edu.wpi.first.GradleRIO" version "2020.2.2" | ||
id "maven" | ||
id "maven-publish" | ||
} | ||
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sourceCompatibility = JavaVersion.VERSION_11 | ||
targetCompatibility = JavaVersion.VERSION_11 | ||
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def ROBOT_MAIN_CLASS = "com.spartronics4915.frc2020.Main" | ||
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// Define my targets (RoboRIO) and artifacts (deployable files) | ||
// This is added by GradleRIO's backing project EmbeddedTools. | ||
deploy { | ||
targets { | ||
roboRIO("roborio") { | ||
// Team number is loaded either from the .wpilib/wpilib_preferences.json | ||
// or from command line. If not found an exception will be thrown. | ||
// You can use getTeamOrDefault(team) instead of getTeamNumber if you | ||
// want to store a team number in this file. | ||
team = frc.getTeamNumber() | ||
if(!project.hasProperty("discover")) | ||
addresses = ["10.49.15.2"] | ||
} | ||
} | ||
artifacts { | ||
frcJavaArtifact('frcJava') { | ||
targets << "roborio" | ||
// Debug can be overridden by command line, for use with VSCode | ||
debug = frc.getDebugOrDefault(false) | ||
} | ||
// Built in artifact to deploy arbitrary files to the roboRIO. | ||
fileTreeArtifact('frcStaticFileDeploy') { | ||
// The directory below is the local directory to deploy | ||
files = fileTree(dir: 'src/main/deploy') | ||
// Deploy to RoboRIO target, into /home/lvuser/deploy | ||
targets << "roborio" | ||
directory = '/home/lvuser/deploy' | ||
} | ||
} | ||
} | ||
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// Set this to true to enable desktop support. | ||
def includeDesktopSupport = true | ||
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// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries. | ||
// Also defines JUnit 4. | ||
dependencies { | ||
implementation wpi.deps.wpilib() | ||
nativeZip wpi.deps.wpilibJni(wpi.platforms.roborio) | ||
nativeDesktopZip wpi.deps.wpilibJni(wpi.platforms.desktop) | ||
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implementation wpi.deps.vendor.java() | ||
nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio) | ||
nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop) | ||
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// implementation "com.github.Spartronics4915:SpartronicsLib:master-SNAPSHOT" | ||
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implementation("gov.nist.math:jama:1.0.3") | ||
implementation("org.ejml:ejml-simple:0.38") | ||
implementation("org.apache.commons:commons-math3:3.6.1") | ||
implementation("com.fazecast:jSerialComm:2.4.1") | ||
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testImplementation("org.knowm.xchart:xchart:3.2.2") | ||
testImplementation("org.junit.jupiter:junit-jupiter-api:5.3.2") | ||
// testImplementation 'junit:junit:4.12' | ||
testRuntime("org.junit.jupiter:junit-jupiter-engine:5.3.2") | ||
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// Enable simulation gui support. Must check the box in vscode to enable support | ||
// upon debugging | ||
simulation wpi.deps.sim.gui(wpi.platforms.desktop, false) | ||
} | ||
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// Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar') | ||
// in order to make them all available at runtime. Also adding the manifest so WPILib | ||
// knows where to look for our Robot Class. | ||
jar { | ||
from { configurations.runtimeClasspath.collect { it.isDirectory() ? it : zipTree(it) } } | ||
manifest { | ||
String user = System.getProperty("user.name"); | ||
SimpleDateFormat fmt = new SimpleDateFormat("MMMMM dd, hh:mm a"); | ||
ByteArrayOutputStream gitinfo = new ByteArrayOutputStream(); | ||
exec { | ||
ignoreExitValue true | ||
commandLine 'git', 'describe', "--tags", "--dirty" | ||
standardOutput = gitinfo | ||
} | ||
attributes ( | ||
"Built-By": user, | ||
"Built-At": fmt.format(new Date()), | ||
"Code-Version": gitinfo.toString().trim() | ||
) | ||
} | ||
manifest edu.wpi.first.gradlerio.GradleRIOPlugin.javaManifest(ROBOT_MAIN_CLASS) | ||
// we could exclude source by subdir (see 2019-Deepspace/build.gradle) | ||
} | ||
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/* | ||
test { | ||
useJUnitPlatform { | ||
// Some tests only work if you have the right stuff plugged in | ||
// Pass -PallTests if you want tests with the excluded tags | ||
if (!project.hasProperty("allTests")) { | ||
excludeTags "hardwareDependant" | ||
} | ||
} | ||
testLogging { | ||
events "PASSED", "SKIPPED", "FAILED" | ||
exceptionFormat "full" | ||
} | ||
} | ||
*/ |
34 changes: 34 additions & 0 deletions
34
src/main/java/com/spartronics4915/lib/hardware/motors/SensorModel.java
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package com.spartronics4915.lib.hardware.motors; | ||
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public class SensorModel { | ||
private final double mToMetersMultiplier; | ||
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/** | ||
* This is a convenience constructor for sensors connected to a wheel. Use the | ||
* more direct constructor if your sensor is not connected to a wheel. | ||
* | ||
* @param wheelDiameterMeters The diameter of your wheel in meters. | ||
* @param nativeUnitsPerRevolution The number of meters per wheel revolution. | ||
*/ | ||
public SensorModel(double wheelDiameterMeters, double nativeUnitsPerRevolution) { | ||
mToMetersMultiplier = (1 / nativeUnitsPerRevolution) * (wheelDiameterMeters * Math.PI); | ||
} | ||
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/** | ||
* @param nativeUnitsToMetersMultiplier A number that, when multiplied with some | ||
* amount of meters, converts to meters. | ||
* This factor will also be used to convert | ||
* to related units, like meters/sec. | ||
*/ | ||
public SensorModel(double nativeUnitsToMetersMultiplier) { | ||
mToMetersMultiplier = nativeUnitsToMetersMultiplier; | ||
} | ||
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public double toMeters(double nativeUnits) { | ||
return nativeUnits * mToMetersMultiplier; | ||
} | ||
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public double toNativeUnits(double meters) { | ||
return meters / mToMetersMultiplier; | ||
} | ||
} |
41 changes: 41 additions & 0 deletions
41
src/main/java/com/spartronics4915/lib/hardware/motors/SpartronicsEncoder.java
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package com.spartronics4915.lib.hardware.motors; | ||
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import com.spartronics4915.lib.util.Logger; | ||
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public interface SpartronicsEncoder { | ||
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public final SpartronicsEncoder kDisconnectedEncoder = new SpartronicsEncoder() { | ||
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@Override | ||
public void setPhase(boolean isReversed) { | ||
Logger.error("Couldn't set the phase of a disconnected encoder"); | ||
} | ||
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@Override | ||
public double getVelocity() { | ||
return 0; | ||
} | ||
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@Override | ||
public double getPosition() { | ||
return 0; | ||
} | ||
}; | ||
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/** | ||
* @return Velocity in meters/second. | ||
*/ | ||
double getVelocity(); | ||
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/** | ||
* @return Position in meters. | ||
*/ | ||
double getPosition(); | ||
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/** | ||
* Sets the "direction" (phase) of this encoder. | ||
* | ||
* @param isReversed If true, the sensor's output is reversed. | ||
*/ | ||
void setPhase(boolean isReversed); | ||
} |
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